I am working on an Agilus robot with KUKA KRC4 compact controller. I am using x11 as my safety interface (the robot was ordered with it). I am working on a scenario where there will be safety gates (light curtains, 2 pairs in total). I want the robot to completely stop when someone cuts any of the light curtains. The PLC I am using is a Sick safety PLC, and gives out +24V output. How do I connect my PLC outputs to the X11 interface? Is it like a direct connection using relays? If so can anyone shed some light on it? I went through other posts on this forum related to the same but they were of very little help. I went through the X11 manual as well, everything was clear other than this.
Thanking you in advance.